MOTO
MAN
3-1
ArcWorld II-200 System Manual
SECTION 3
EQUIPMENT DESCRIPTION
3.1
UP-series Robot Description
The Motoman UP6 robot and XRC 2001 robotic controller represent state-of-the-
art technology in robotics today. The six-axis UP6 robot has a payload of 6 kg
(13.2 lbs). It features a 1,373 mm (54.05 inch) reach and has a relative positioning
accuracy of ± 0.08 mm (0.004 inch).
The UP6 can reach below its own base as well as behind itself and can be mounted
on the floor, wall, or ceiling with few modifications. However, the S-axis has been
restricted by hardstops for use in this system. For more information, refer to the
manipulator manual that came with your system.
3.2
XRC 2001 Controller
The XRC 2001 robotic controller, shown in Figure 3-1, coordinates the operation
of the ArcWorld II-200 system. It controls manipulator movement and welding
power supply, processes input and output signals, and provides the signals to
operate the welding system. It maintains variable data and performs numeric
processing to convert to and from different coordinate systems. In addition, the
controller provides the following: main logic functions, servo control, program and
constant data memory, and power distribution. For more information, refer to the
manipulator manual that came with your system.
Figure 3-1 XRC 2001 Controller
SERVO ON
READY
REMOTE
PLAY
(OFF)
(ON)
TEACH
MODE
EMERGENCY STOP
EDIT LOCK
ALARM
HOLD
START
ON
TR
IP
O
P
E
N
/R
E
S
E
T
O
F
F
PLAYBACK BOX
PROGRAMMING
PENDANT
BRAKE RELEASE
CONTROL
POWER
DISCONNECT
